CN112259267B

CN112259267B - Nuclear reactor detector assembly removal device

Info

Publication number: CN112259267B
Application number: CN202011130806.4A
Authority: CN
Inventors: 安彦波; 李娜; 杨其辉; 余志伟; 黄宗仁; 湛卉; 张翼; 王尚武; 熊思勇; 曹锐; 罗英; 钟元章; 刘昌文; 陈书华; 王炳炎
Original assignee: Nuclear Power Institute of China
Current assignee: Nuclear Power Institute of China
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2022-04-01
Anticipated expiration: 2040-10-21
Also published as: CN112259267A

Abstract

The invention discloses a nuclear reactor detector assembly dismantling device. The device comprises a large car assembly, a small car assembly, a visual centering device, a detector assembly gripping apparatus, a shearing winding device, a low-level section, a low-level container and a storage device, wherein the large car assembly is roughly positioned above a detector assembly to be disassembled, the visual centering device is precisely positioned right above the detector assembly to be disassembled, the detector assembly gripping apparatus is hoisted to the large car assembly and the small car assembly, the detector assembly is pulled out of a pile inner member to a preset height, the shearing winding device shears the detector assembly, and the low-level section is hoisted by the detector assembly gripping apparatus under the coordination of a crane and is stored in the low-level container; the high-level section is wound into a multilayer winding by a shearing and winding device and stored in a temporary storage container; after the four containers are fully stored, the whole container is transferred to a high-level storage container; and after all the containers are dismantled, transferring the high-level storage container to a spent fuel pool. The device has good reliability, high efficiency, simple operation and good radiation protection performance.

Description

Nuclear reactor detector assembly removal device

Technical Field

The invention relates to the technical field of reactor equipment disassembly, in particular to a spindle translation winding mechanism for disassembling a nuclear reactor detector assembly and a using method.

Background

Detectors for core measurement systems in second-generation and second-generation pressurized water reactor nuclear power stations are divided into thermocouples for measuring temperature and neutron flux detectors for measuring flux. The thermocouple is led in from the top cover of the pressure vessel, guided by the thermocouple column assembly and positioned at a specified measuring point position, and the lower end of the thermocouple is positioned at the core outlet of the upper core plate. The flux detector is led in from the bottom end socket of the pressure vessel, and is guided by the instrument sleeve and the finger sleeve when needed to enter the guide pipe in the fuel assembly at a specified measuring point. The design life of both detector assemblies is the plant's full life, not considering replacement except for special cases. Power plants at home and abroad have been replaced precedently, and an underwater shearing tool is adopted to replace the damaged flux detector individually.

The detector for the third-generation nuclear power station reactor core measuring system is changed into a detector which is completely introduced from a pressure vessel top cover, and the detector assembly is guided to a specified measuring point position through a guide structure arranged on an in-reactor component until the detector assembly is inserted into a guide pipe in the middle of a fuel assembly for a certain depth. The detector assembly inserted into the core has a housing of type 304 stainless steel with neutron detection elements and thermocouples inside. The probe assembly is typically installed after the reactor is installed in the fuel assembly and inserted into the fuel assembly during operation until the useful life of the probe assembly is reached. Due to burnup and irradiation effects, the life of the detector generally does not reach 60 years in a nuclear power plant, and therefore, after the detector assembly reaches a certain service life, the detector assembly needs to be removed to the life during refueling. The end-of-life detector assembly is considered to be highly radioactive waste and the demolition apparatus should take into full account the environmental dose of the demolition process and the radiation protection of personnel.

The AP1000 and EPR three-generation nuclear power stations are still in the construction stage, and no equipment for dismounting and replacing the detector components is found. In Hualong I pile type, the equipment described in the patent "a detector assembly dismantling process and its special dismantling equipment" (Sichuan, CN107767976A [ P ] 2018-03-06) has basically the same function as the invention, but the whole equipment constitution, the shearing and winding structure and the shearing and winding working method are different from the invention. Compared with the equipment, the equipment has the advantages of compact structure, long service life, light weight and convenient use, and the detector assembly after the capacity reduction by utilizing the equipment is wound in a smaller size.

Disclosure of Invention

The invention aims to provide a device for removing a nuclear reactor detector assembly, which is used for pulling out a high-activity detector assembly at the end of a service life from a channel of an upper in-pile member guide structure, placing the high-activity detector assembly into a special container after complete continuous actions such as shielding, shearing, winding and the like, and transferring the high-activity detector assembly to a specified disposal place. The purposes of continuous operation, safety and high efficiency are achieved.

The invention is realized by the following technical scheme:

a nuclear reactor detector assembly removal device comprises the following components which are modularized in a combined mode,

the device comprises a detector assembly gripping apparatus, a large car assembly, a small car assembly, a shearing and winding device, a vision centering device, a monitoring device, a high-level storage container and a storage rack; the large and small car assemblies are arranged in the nuclear reactor plant and are positioned right above the detector assembly; the big car assembly and the small car assembly comprise a big car moving in the Y direction and a small car moving in the X direction, and the small car is assembled on the big car; the detector component gripper is arranged on the upper top surface of the trolley and comprises an outer cylinder component and a gripping component, wherein the length direction axis of the outer cylinder component is arranged along the Z direction, and the gripping component moves up and down along the outer cylinder component; the Z direction is a direction vertical to the plane of the X direction and the Y direction; the shear winding device is hung on the lower top surface of the trolley and comprises a left winding spindle module and a right winding spindle module, and the left winding spindle module and the right winding spindle module can be close to and separated from each other; the length direction axis of the outer cylinder component is coaxial with the centering axis when the left winding main shaft module and the right winding main shaft module are close to each other; the vision centering device and the monitoring device are assembled at the bottom of the shearing and winding device; the high-level storage container and the storage rack are arranged at the bottom of the pool of the in-pile components and below the running plane of the large and small car components.

Based on the technical scheme, the following steps are preferred: the detector assembly gripping apparatus further comprises a steel wire rope winding assembly and an air pipe winding assembly, the steel wire rope winding assembly is connected to the gripping assembly through a steel wire winding drive, and the air pipe winding assembly is provided with an air pipe which moves along with the gripping assembly and is connected with an action air cylinder of the gripping assembly and a winding assembly which drives the air pipe to move up and down and is synchronous with a steel wire; the automatic grabbing device further comprises a control cabinet, wherein the control cabinet is used for controlling the air pipe to supply air so as to control the grabbing component to act.

Based on the technical scheme, the following steps are preferred: the shearing and winding device also comprises a shielding structure body positioned between the left winding main shaft module and the right winding main shaft module, the shielding structure body comprises a left shielding body and a right shielding body, and the left shielding body and the right shielding body can be close to and separated from each other; the length direction axis of the outer cylinder component is coaxial with the centering axis when the left side shielding body and the right side shielding body are close to each other.

The visual centering device is implemented using the technology shown in patent application 2019110223140, and the system is operated in cooperation with the mechanical system of the present invention. In the process of dismantling the detector assembly, in order to meet the radiation protection requirements of operators and the environment and facilitate the subsequent storage and treatment of the detector assembly high-level section, the detector assembly high-level section with the diameter phi of 7.5mm and the length of about 10m needs to be wound into a coil with the size phi of 120mm multiplied by 120mm, and the coil is moved to the upper part of the temporary storage container after the winding is finished and is placed into the temporary storage container for temporary storage. The invention is used for remotely and automatically winding the high-level section of the detector assembly and transferring and releasing the wound coil, and can be applied to the underwater environment so as to reduce the irradiation dose borne by operators and improve the replacement efficiency of the detector assembly. The detector assembly gripping apparatus finishes gripping the detector assembly under the control of the control system. The detector component gripping apparatus mainly comprises a lifting ring, a steel wire rope winding component, an air pipe winding component, a gripping component, an outer barrel component, a control cabinet and the like. During hoisting, the hoisting ring is connected with a factory crane and used for hoisting the gripping apparatus integrally; the steel wire rope winding assembly can drive the grabbing assembly to lift under the driving of a motor; the air pipe winding assembly supplies air to the grabbing assembly and acts along with the steel wire rope winding assembly; the grabbing component is used for grabbing the detector component; the outer cylinder component supports the whole gripping apparatus; the control cabinet is used for controlling the action of the gripping apparatus. The large and small vehicle assembly mainly comprises a large vehicle, a small vehicle, a mounting self-positioning mechanism, a large and small vehicle locking mechanism and the like. The cart performs the longitudinal (Y direction, direction of the pile cavity and the refueling water pool: 90-270 degrees) running function on the horizontal plane. Carrying out trolley: the running function in the transverse direction (X direction, vertical direction of the cart: 0-180 degrees) is executed in the horizontal plane. The installation is triggered formula spring mechanism by the contact and is constituteed from the positioning mechanism, when installing big or small car to the reloading track, as long as the reloading track enters into the guide positioning rod constant head tank of the installation from the positioning mechanism, just can ensure that big or small car is in the required scope relative positioning error of reloading track. When the dismantling work is finished or the whole equipment is hoisted, the small car needs to be locked on the large car by the large car locking mechanism and the small car locking mechanism. The shearing and winding device finishes shearing, winding and temporary storage of the irradiated detector assembly and mainly comprises a left winding spindle module, a right winding spindle module, a shearing tool, a winding spindle, a clamping component, a reciprocating electric cylinder component, a sliding rail component, a temporary storage container, a shielding structure body and an outer frame.

The shear winding process is as follows:

1. opening the shielding structure; 2. when the detector assembly gripping apparatus lifts the detector assembly to a preset position, the left winding main shaft module and the right winding main shaft module synchronously move in opposite directions along the sliding rail part to clamp the upper part of the detector assembly; 3. the lower end of the detector assembly is clamped by a clamping component at the bottom of the shearing and winding device; 4. the cutter of the right winding spindle module extends out to cut off the detector assembly; 5. the winding shaft of the right winding main shaft module rotates, and meanwhile, the reciprocating electric cylinder component synchronously translates to wind the detector assembly into uniform and regular multilayer winding; 6. the clamping component is loosened, and the reciprocating electric cylinder component translates to the right above the temporary storage container; 7. the left winding main shaft module and the right winding main shaft module move in opposite directions, and the detector assembly falls into the temporary storage container.

The outer frame supports the entire shear winding assembly and is secured to the large and small car assemblies by its upper end flanges. The high-level storage container and the storage rack are used for storing the coiled high-activity section detector assembly, and the high-level storage container and the storage rack can be transported to a spent fuel pool for long-term storage by means of a hoisting tool and a transportation channel of the fuel assembly. The high-level storage container is stored on a high-level storage container storage rack at the bottom of a reactor pool and mainly comprises a top seat, a barrel and a base. The vision centering device collects image information of the target detector assembly on line and obtains the actual position of the target detector assembly after processing. The vision centering device mainly comprises a camera, a lens, vision centering device software (including parameter calibration, image processing, a human-computer interaction interface and the like), a data acquisition card and the like. The monitoring device is used for monitoring equipment positioning, detector assembly grabbing and shearing winding processes and mainly comprises an underwater lamp, an underwater radiation-resistant camera, a monitoring host, a monitoring display, a mounting support and the like.

In general, when used, the following sequential actions may be performed:

1. preparing: the preparation work mainly completes the initialization operation: reset, knob to automatic gear, etc. 2. Positioning: the positioning mainly comprises coarse positioning and positioning. Coarse positioning: after the target position is selected, the large and small vehicles are driven to move according to the theoretical coordinate (the theoretical coordinate data is permanently stored in the memory of the industrial personal computer) of the target position to finish coarse positioning. Fine positioning: the vision centering device collects images of the detector assemblies, processes the images to obtain actual position coordinates of a group of (4) detector assemblies, and drives the large trolley to be positioned above the first detector to prepare for winding. 3. Cutting: the shearing process comprises four steps: confirmation, clamping, shearing, and confirmation of shearing. The specific working process is as follows: after positioning is completed, the detector assembly gripping apparatus grabs the detector assembly and lifts the detector assembly to a preset position, and after the operator confirms that the detector assembly is correct, the operator starts to clamp the detector assembly and cuts the detector assembly. An operator observes whether the detector assembly is cut off or not through the monitoring camera, and if the detector assembly is not cut off, the detector assembly is cut off again; if the cutting is finished, the next operation is started. 4. Winding: and after the winding is finished, the detector assembly is loosened, and the detector reel is temporarily stored in the temporary storage container. After winding one detector assembly, judging whether the temporary storage container is full through software: if not, starting the capacity reduction of the next detector assembly; if full, it is transferred to a high-volume container. 5. Transferring: after the temporary storage container is full, the large trolley is driven to move to a position right above the high-level storage container, the temporary storage container is descended, the high-level detector reel is stored in the high-level storage container, the temporary storage container is lifted, one group (4 in total) of detector assemblies are completely contracted, the next group of detector assemblies begin to be contracted, and if all the detector assemblies are completely contracted, the contraction is finished.

The effects are as follows: (1) the demolition device has high positioning precision and good robustness. As long as the coarse positioning precision is ensured to be within 20mm, the final positioning precision can reach 2mm under the fine positioning of the visual centering device of the dismounting device; (2) the detector assembly gripper can pull out the detector assembly from the in-pile member guide assembly without breaking in an underwater nuclear radiation environment; (3) the shearing and winding device can reliably shear the detector assembly from a preset position, and the cutter has long service life and is easy to replace; (4) the shearing and winding device can wind the high-level detector assembly into a multi-layer winding coil which is convenient to store and transport in an underwater nuclear radiation environment and is regular and compact in shape; (5) the shearing and winding device can temporarily store the winding of the four detector assemblies, thereby shortening the whole dismantling time and improving the dismantling efficiency; (6) the automation degree of the whole dismantling process is high, and the dismantling of all 48 detector assemblies can be completed only by a small amount of manual intervention; (7) the equipment has compact structure and good shielding performance, and can ensure that the irradiation dose received by an operator is within a required range.

Based on the technical scheme, the following steps are preferred: the shielding structure body also comprises a left shielding shaft and a right shielding shaft; the left side shield body is rotationally connected around the left shield shaft, and the right side shield body is rotationally connected around the right shield shaft; the left shielding shaft and the right shielding shaft are at the same horizontal height, and the distance between the left shielding shaft and the right shielding shaft needs to ensure that when the left shielding body rotates around the left shielding shaft to the right and the right shielding body rotates around the right shielding shaft to the left, the opposite surfaces of the right shielding body of the left shielding body are connected together in a leaning manner;

the driving device also comprises a driving body A in driving connection with the left shielding body and a driving body B in driving connection with the right shielding body; the device further comprises an actuator which drives and connects the driving body A or/and the driving body B.

The driving body A comprises a left layout: guide rail, slide block, connecting rod axle; wherein, the left side overall arrangement does: the sliding block slides in the vertical direction along the guide rail, one end of the connecting rod is fixedly connected with the sliding block, and the other end of the connecting rod is connected with the left shielding body through a connecting rod shaft;

the driving body B includes, in a right side layout: guide rail, slide block, connecting rod axle; wherein, the right side overall arrangement is: the slide block slides in the vertical direction along the guide rail, one end of the connecting rod is fixedly connected with the slide block, and the other end of the connecting rod is connected with the right side shielding body through a connecting rod shaft;

the device also comprises an actuator, wherein the actuator comprises an electric telescopic cylinder and a lifting base plate, the lifting base plate is transversely arranged, a guide rail arranged on the left side is connected with the left side of the lifting base plate, and a guide rail arranged on the right side is connected with the right side of the lifting base plate; the electric telescopic cylinder body is fixed, and the output telescopic end of the electric telescopic cylinder is vertically connected with the lifting base plate.

One end of the connecting rod is fixedly connected with the sliding block by a pin shaft.

The left side shield body and the right side shield body are both in the shape of an approximate quarter semicircle, the left side shield body and the right side shield body are symmetrically and mutually closed to form a semicircle, the surfaces opposite to the surfaces closed to each other are surfaces with the radius, and one surface of the left side shield body facing the right side shield body and one surface of the right side shield body facing the left side shield body are mutually constructed into step surfaces which can be mutually matched.

The actuator, driving body A, driving body B constitute drive arrangement, left side shield, right side shield, left shielding axle, right shielding axle constitute shield assembly, wherein, drive arrangement is located the shield assembly top, and drive arrangement and shield assembly dislocation set, during the dislocation set, the leading flank at drive arrangement place is located behind the trailing flank of left side shield, right side shield, left side shielding axle runs through the leading flank and the trailing flank of left side shield, right side shielding axle runs through the leading flank and the trailing flank of right side shield.

The bridge plate is positioned on the rear side surfaces of the left side shield body and the right side shield body; the left shielding shaft penetrates through the left surface area of the left shielding body and the left surface area of the bridge plate, and the right shielding shaft penetrates through the right surface area of the right shielding body and the right surface area of the bridge plate.

The shielding design structure is exquisite, the weight is small, the reliability is high, the operation is convenient, the working efficiency is high, and the radiation protection requirement of the operation position of personnel at the side of the water pool is met; the device can be used for carrying out personnel radiation protection on the detector assembly in the processes of grabbing, lifting and transferring the high-radioactivity water environment through remote operation, and the irradiation dose borne by an operator is reduced; the reactor can be widely applied to reactors or other reactors with neutron-temperature detector components led out from the top cover of the pressure vessel.

Based on the technical scheme, the following steps are preferred:

the shear winding apparatus further comprises:

the outer frame body is provided with an opening and closing slide rail, a left winding main shaft module and a right winding main shaft module which are assembled in a sliding mode along the opening and closing slide rail;

the sliding device also comprises an integral translation sliding rail arranged in the outer frame body and assembled along the integral translation sliding rail in a sliding way;

the left winding main shaft module and the right winding main shaft module are simultaneously assembled with the integral translation frame in a linkage manner; the integral translation driving component is connected to the integral translation frame and controls the integral translation driving component to translate along the integral translation sliding rail;

the opening and closing driving assembly is connected to the left winding spindle module and the right winding spindle module and controls the left winding spindle module and the right winding spindle module to move in the opposite direction or in the opposite direction along the opening and closing slide rail.

The left winding main shaft module comprises a left box body B, a left winding main shaft B and a left linkage component B,

an extension part B is formed on the lower side surface of the left box body B, a left winding main shaft B transversely penetrates through the extension part B,

the left linkage assembly B comprises a transverse linkage assembly B and a vertical linkage assembly B;

the vertical linkage assembly B is used for driving the left winding spindle B to rotate, the transverse linkage assembly B is linked with a power device of the right winding spindle module, and the transverse linkage assembly B is linked with the vertical linkage assembly B.

The transverse linkage assembly B comprises: the coupler B3 is linked with the power device of the right winding main shaft module, the telescopic rod is in transmission connection with the coupler B3, and the coupler B2 is in transmission connection with the telescopic rod;

vertical linkage subassembly B is including transmission connection in proper order: a transmission shaft B2, a coupling B1, a connecting shaft B, a transmission shaft B1, a speed reducer B1, a speed reducer gear B and a winding main shaft gear B;

the winding main shaft gear B is sleeved on the left winding main shaft B;

the reducer B2 is further included, the transverse end of the reducer B2 is in transmission connection with the coupler B2, and the vertical end of the reducer B2 is in transmission connection with the transmission shaft B2.

The right winding main shaft module comprises a right box body C, a right winding main shaft C and a right linkage component B;

an extension part C is formed on the lower side surface of the right box body C, a right winding main shaft C transversely penetrates through the extension part C,

the right linkage assembly B comprises a transverse linkage assembly C, a vertical linkage assembly C and a material returning assembly C;

the vertical linkage assembly C is used for driving the right winding main shaft C, and the transverse linkage assembly C is used for providing power for the left winding main shaft module; and the material returning component C is used for pushing the detector component high-level section wound on the right winding main shaft C.

Vertical linkage subassembly C is including transmission connection in proper order: a downward speed reducer C, a transmission shaft C2, a coupling C, a transmission shaft C1, a speed reducer C1, a speed reducer gear C and a winding main shaft gear C; a winding main shaft gear C is sleeved on the right winding main shaft C;

the transverse linkage assembly C comprises a transverse speed reducer C;

the horizontal speed reducer C and the downward speed reducer C are linked with the winding motor C; the transverse speed reducer C is in transmission connection with the left winding main shaft module and provides power for the left winding main shaft module;

material returned subassembly C is including transmission connection in proper order: the push rod motor, the speed reducer C2, the transmission shaft C3, the push plate connecting rod C, the push plate C and the push rod C; wherein the push plate C and the push rod C are sleeved on the right winding main shaft C; the push rod motor and the speed reducer C2 are assembled in the right box body C.

The drive assembly that opens and shuts includes: 1 goes into 2 and goes out the reduction gear, the motor that opens and shuts, 1 goes into 2 power input part that go out the reduction gear and is connected with the motor transmission that opens and shuts, 1 goes into 2 power output parts that go out the reduction gear and connects respectively in 2 extending structure, and wherein 1 extending structure transmission is connected in left side winding main shaft module, 1 extending structure transmission in addition connects in right side winding main shaft module.

The integral translation driving component comprises a driving mechanism which is connected in sequence: translation actuating motor, coupling A, reduction gear A, the electronic jar A of translation drive assemble in outer frame body, and the flexible end of the electronic jar A of translation drive is connected in whole translation frame.

the vertical linkage assembly B is used for driving the left winding main shaft B to rotate, and the transverse linkage assembly B is linked with the vertical linkage assembly B;

the vertical linkage assembly C is used for driving the right winding main shaft C, and the material returning assembly C is used for pushing the detector assembly high-level section wound on the right winding main shaft C;

the transverse linkage component B is in transmission connection with the transverse linkage component C; the left winding main shaft B and the right winding main shaft C are coaxially arranged.

When the shielding structure is used, the left winding main shaft module and the right winding main shaft module are folded in place, and the following steps are executed:

s1, starting the winding motor C in the right winding main shaft module, the left winding main shaft B of the left winding main shaft module and the right winding main shaft C of the right winding main shaft module start to synchronously rotate, and after each synchronous winding of the left winding main shaft B and the right winding main shaft C rotates for one circle, turning to the step S2,

s2, starting the integral translation driving assembly to drive the integral translation frame, and driving the left winding spindle module and the right winding spindle module to integrally translate by a distance equal to the diameter of the detector assembly by the integral translation frame;

s3, repeating S1 and S2 for multiple times until the high-level section of the detector assembly is wound, and turning to the step S4;

s4, starting the integral translation driving assembly to drive the integral translation frame, driving the left winding main shaft module and the right winding main shaft module to integrally translate by the integral translation frame so that the left winding main shaft module and the right winding main shaft module are translated to a release position from a winding position, and then turning to S5;

s5, starting the open-close driving component to make the winding motor C in the right winding main shaft module move reversely, then turning S6,

and S6, starting the material returning component C of the right winding spindle module, and pushing the winding by the material returning component C to enable the winding to be separated from the right winding spindle of the right winding spindle module and fall into the temporary storage container.

And S3, finishing the multi-layer winding till the high-amplification section of the detector assembly.

The left winding spindle module and the right winding spindle module are synchronously driven to move in opposite directions or in opposite directions through the opening and closing driving assembly, so that clamping and releasing of the detector assembly (a low-level section and a high-level section) are realized; a winding motor in the right winding spindle module is used for driving the left winding spindle B and the right winding spindle C to rotate simultaneously, so that the winding of the high-level section of the detector assembly is realized; the integral translation driving component simultaneously drives the left winding main shaft module and the right winding main shaft module to move in the same direction, and two functions are completed: in the winding process, the left winding main shaft B and the right winding main shaft C simultaneously translate for a specified distance (equal to the diameter of the high-level section of the detector assembly) every turn, so that the high-level section of the detector assembly becomes uniform and regular winding. ② transferring the winding from the winding position to the releasing position after the winding is completed.

All work can be done underwater.

The invention adopts an automatic mode and provides a manual operation mode in an emergency state, and the invention provides a handle C and a handle A, wherein the handle C is transmitted with a downward speed reducer C and is used as a backup power of a winding motor C, and the handle A is transmitted with the speed reducer A and is used as a backup power of a translation driving motor.

The invention relates to a main entity of a main shaft translation winding mechanism for dismantling a nuclear reactor detector assembly, which comprises an integral translation driving assembly, a left winding main shaft module, a right winding main shaft module and the like.

The integral translation driving assembly is used for completing integral translation of the whole winding mechanism from a winding position to a releasing winding position and moving the distance of the radial size of one detector assembly along the horizontal direction every turn of a winding main shaft in the winding process, and a translation driving motor in the integral translation driving assembly drives a translation driving electric cylinder A through a speed reducer A to complete the action of moving the integral translation frame left and right on the guide rail. The handle A is in transmission with the reducer A, and as a manual operation supplementing means when the translation driving electric cylinder A fails, the translation system is driven by manually rotating the hand wheel under the condition that the translation driving electric cylinder A fails accidentally, so that the manual mode is considered.

The left winding spindle module and the right winding spindle module are both arranged on the integral translation frame and can move along with the integral translation frame, and in the winding process, the left winding spindle B and the right winding spindle C rotate for one circle, and through control coupling, the translation driving electric cylinder A drives the integral mechanism to translate for a distance of the diameter of the high-level section of the detector assembly, so that the detector assemblies are guaranteed to be arranged orderly and reciprocate twice, and are wound for 4 layers; after winding is completed, the translation of the winding position to the winding release position is then completed.

The left winding spindle module and the right winding spindle module can move in opposite directions or opposite directions simultaneously under the driving of an opening and closing motor, the opening and closing motor is connected with two outputs of 1-in 2-out speed reducer, the left side of the 1-in 2-out speed reducer is connected with an electric cylinder (telescopic device), the left side box body B of the left winding spindle module translates on a guide rail, the right side of the 1-in 2-out speed reducer is connected with an electric cylinder (telescopic device), the right side box body C of the right winding spindle module translates on the guide rail, the output directions of the two sides of the 1-in 2-out speed reducer move in opposite directions or opposite directions, and the left winding spindle module and the right winding spindle module can move in opposite directions or opposite directions.

The winding motor C is connected with a speed reducer C (a downward speed reducer C and a transverse speed reducer C), two paths of outputs of the speed reducer C (the downward speed reducer C and the transverse speed reducer C) respectively transmit winding motion to the left winding main shaft and the right winding main shaft, and the two are completely synchronous, so that the left winding module and the right winding module can rotate simultaneously when being folded, and a winding function is realized. The handle C is connected with the speed reducer C, and manual winding under the condition of motor failure can be realized.

And a winding motor C of the right winding spindle module is positioned above the right box body and provides power for winding of the left winding spindle module and the right winding spindle module. The right winding spindle module has the following main structure: the right box body is a bearing main body of the whole right winding main shaft module, and two sliding blocks C are arranged on two sides of the right box body and used for moving on the guide rail; the winding motor outputs power to the right winding spindle C and the left winding spindle B through the two output speed reducers and the transmission chain of the left winding spindle module to realize rotation;

the function of the left winding spindle module is similar to that of the right winding spindle module, the translational motion direction is opposite, and the rotation direction is the same.

Meanwhile, a push rod is arranged on the right winding main shaft to limit the winding to be incapable of moving right along with the right winding main shaft, separating from the right winding main shaft and falling to a storage position to complete the release of the winding.

The technical effect of the shearing and winding device is as follows:

1. layered arrangement and long-distance power transmission. The motors are arranged above the water surface, so that the requirement on the waterproof performance of the motors is lowered; the power transmission is completed through the multi-cascade shaft device; 2. the output end of a reducer of the motor is connected with an electric cylinder, the electric cylinder is connected with an integral translation frame, and an integral translation slide rail is fixed on an outer frame body of the shearing and winding device; the left and right winding main shaft modules are fixed on the integral translation frame; in the winding process of the high-level section, the left winding main shaft and the right winding main shaft rotate for one circle, the translation motor translates the distance of the diameter of one detector assembly, the detector assemblies are guaranteed to be arranged neatly when being wound, multiple layers are arranged, and the final winding shape is standardized. 3. The handle can be used as an emergency translation and winding operation means in a fault state, so that the reliability of the equipment is improved; 4. the opening and closing motor respectively drives the left winding main shaft module and the right winding main shaft module through the input and output speed reducers to realize synchronous opposite and opposite movement of the left winding main shaft module and the right winding main shaft module; 5. the winding motor synchronously completes the winding function of the left and right winding main shaft modules by being provided with two output speed reducers, and the access of a winding hand wheel is in consideration of a manual mode; 6. the transfer of the winding from the winding position to the release position can be achieved; meanwhile, in the release position, when the right winding spindle module is driven by the winding motor to translate rightwards, the winding spindle module is separated from the right winding spindle, and therefore the winding is released. 7. The functions of coiling and shrinking the high-magnification section, transferring and coiling to a storage position and releasing and the like of the detector assembly at the end of the service life are fully automatically realized, and the irradiation dose borne by an operator is reduced; 8. the reactor can be widely applied to a reactor with neutron-temperature detector components led out from a pressure vessel top cover, can be directly suitable for the top of a Hualong series reactor and an AP1000 series reactor, and can also be used for a Tianwan VVER type power station after local improvement.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic side view of a shield structure closure. Fig. 2 is a side view of the shield structure open.

Fig. 3 is a schematic view of a spindle translation winding mechanism (shear winding device). FIG. 3 is a side view of the spindle translation winding mechanism (shear winding apparatus). Fig. 4 is a schematic plan view of the spindle translation winding mechanism (shear winding device).

Fig. 5 is a block translation drive system configuration.

Fig. 6 is a schematic structural diagram of the left winding spindle module. Fig. 7 is a schematic view of the left winding spindle module structure AA. Fig. 8 is a schematic top view of the left winding spindle module. Fig. 9 is a perspective view of the left winding spindle module structure.

Fig. 10 is a structural schematic diagram of a right winding spindle module. FIG. 11 is a schematic view of the right reel spindle module configuration AA. Fig. 12 is a schematic top view of a right winding spindle module configuration. FIG. 13 is a perspective view of the right spool module configuration.

Fig. 14 is a front view of the overall structure of the present invention. Fig. 15 is a side view of the general construction of the present invention. Figure 16 is a structural view of the probe assembly gripper. FIG. 17 is a structural view of a cart assembly.

The reference numerals in fig. 1-2 are respectively denoted as:

308. shearing a cutter; 310A, a detector component low-level section; 310B, a detector assembly high-amplification section; 311. a winding shaft; 3041. an electric telescopic cylinder; 3042. lifting the substrate; 3043. a pin shaft; 3044. a slider; 3045. a guide rail; 3047. a connecting rod; 3048. a bridge plate; 3048A, a left shield; 3048B, a right shield; 3049. a link shaft; 3049A, a left shield shaft; 3049B, and a right shield shaft.

Reference numerals in fig. 3 to 13 denote:

301. an integral translation drive assembly; 302. a left winding spindle module; 303. integrally translating the slide rail; 304. a shielding structure; 305. a right wind spindle module; 306. a top plate; 307. an outer frame body; 308. shearing a cutter; 309. a clamping member; 310. a probe assembly; 311. a winding shaft; 312. a temporary storage container; 313. an opening and closing motor; 314. an integral translation frame; 315 opening and closing the slide rail;

3021. a left box body B; 3022. a slide block B; 3023. a reducer gear B; 3024. winding a main shaft gear B; 3025. a left winding main shaft B; 3026. a reducer B1; 3027. a propeller shaft B1; 3028. a connecting shaft B; 3029. a propeller shaft B2; 3029A, coupling B1; 3029B, retarder B2; 3029C, coupling B2; 3029D, a telescopic rod; 3029E, coupling B3;

3051. a handle C; 3052. a winding motor C; 3053. a right box body C; 3053A, a slider C; 3054. a downward decelerator C; 3054A, reducer C1; 3054A1, coupling C; 3054A2, drive shaft C1; 3054B, a reducer gear C; 305C, a winding main shaft gear C; 3054D, drive shaft C2; 3054M, a transverse speed reducer C; 3055. a right winding main shaft C; 3056. a push rod C; 3058. pushing a plate C; 3059. a push plate connecting rod C; 3059A, drive shaft C3; 3059B, retarder C2; 3059C, a push rod motor;

3011. a translation drive motor; 3012. a shaft coupling A; 3013. a handle A; 3014. connecting the shaft A; 3015. a reducer A; 3016. the translation drives the electric cylinder A;

reference numerals in fig. 14 to 17 denote:

1. a probe assembly gripper; 2. a large and small car assembly; 3. a shear winding device; 4. a vision centering device; 5. a monitoring device; 6. a high-level storage container and a storage rack; 101. a hoisting ring; 102. a wire rope hoisting component; 103. a windpipe hoist assembly; 104. a grasping assembly; 105. an outer barrel assembly; 106. a control cabinet; 201. installing a self-positioning mechanism; 202. a cart; 203. a large and small vehicle locking mechanism; 204. a trolley is provided.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

Example 1

Referring to fig. 14-17, the nuclear reactor detector assembly removal apparatus, comprises the following components modularized in combination,

the device comprises a detector assembly gripper 1, a large car assembly 2, a small car assembly 2, a shearing and winding device 3, a vision centering device 4, a monitoring device 5, a high-level storage container and a storage rack 6; wherein the content of the first and second substances,

the large and small car assembly 2 is arranged in a nuclear reactor plant and is positioned right above the detector assembly; the big and small car assembly 2 comprises a big car 202 moving in the Y direction and a small car 204 moving in the X direction, and the small car 204 is assembled on the big car 202;

the detector assembly gripper 1 is arranged on the upper top surface of the trolley 204, the detector assembly gripper 1 comprises an outer cylinder assembly 105 with a length direction axis arranged along the Z direction, and a gripping assembly 104 moving up and down along the outer cylinder assembly 105; the Z direction is a direction vertical to the plane of the X direction and the Y direction;

the shear winding device 3 is hung on the lower top surface of the trolley 204, the shear winding device 3 comprises a left winding spindle module 302 and a right winding spindle module 305, and the left winding spindle module 302 and the right winding spindle module 305 can approach and separate from each other; the longitudinal axis of the outer barrel assembly 105 is coaxial with the centering axis when the left winding spindle module 302 and the right winding spindle module 305 approach;

the vision centering device 4 and the monitoring device 5 are assembled at the bottom of the shearing and winding device 3;

the high-level storage container and the storage rack are disposed at the bottom of the pool of the in-pile components and below the running plane of the large and small car assemblies 2.

The patent discloses an apparatus for removing a probe assembly from a nuclear reactor. The device comprises a large car assembly, a small car assembly, a visual centering device, a detector assembly gripping apparatus, a shearing winding device, a low-level section, a low-level container and a storage device, wherein the large car assembly is roughly positioned above a detector assembly to be disassembled, the visual centering device is precisely positioned right above the detector assembly to be disassembled, the detector assembly gripping apparatus is hoisted to the large car assembly and the small car assembly, the detector assembly is pulled out of a pile inner member to a preset height, the shearing winding device shears the detector assembly, and the low-level section is hoisted by the detector assembly gripping apparatus under the coordination of a crane and is stored in the low-level container; the high-level section is wound into a multilayer winding by a shearing and winding device and stored in a temporary storage container; after at most four containers are filled, the whole container is transferred to a high-level storage container; and after all the containers are dismantled, transferring the high-level storage container to a spent fuel pool. The device has good reliability, high efficiency, simple operation and good radiation protection performance.

Based on the technical scheme, the following steps are preferred:

the detector assembly gripping apparatus 1 further comprises a steel wire rope winding assembly 102 and an air pipe winding assembly 103, wherein the steel wire rope winding assembly 102 is connected to the gripping assembly 104 through a steel wire winding drive, and the air pipe winding assembly 103 is provided with an air pipe which moves along with the gripping assembly 104 and is connected with an action cylinder of the gripping assembly 104 and a winding assembly which drives the air pipe to move up and down and is synchronous with the steel wire; a control cabinet 106 is also included, and the control cabinet 106 is used for controlling the air supply of the air pipe to control the action of the grabbing component 104.

Based on the technical scheme, the following steps are preferred:

the shear winding device 3 further includes a shielding structure 304 located between the left winding spindle module 302 and the right winding spindle module 305, the shielding structure 304 includes a left shielding body 3048A and a right shielding body 3048B, and the left shielding body 3048A and the right shielding body 3048B can be close to and separate from each other; the longitudinal axis of the outer cylinder assembly 105 is coaxial with the centering axis when the left and

right shields

3048A and 3048B are close to each other.

The visual centring device 4 is realised with the technique shown in patent application 2019110223140, operating with the mechanical system of the present invention.

In the process of dismantling the detector assembly, in order to meet the radiation protection requirements of operators and the environment and facilitate the subsequent storage and treatment of the detector assembly high-level section, the detector assembly high-level section with the diameter phi of 7.5mm and the length of about 10m needs to be wound into a coil with the size phi of 120mm multiplied by 120mm, and the coil is moved to the upper part of the temporary storage container after the winding is finished and is placed into the temporary storage container for temporary storage.

The invention is used for remotely and automatically winding the high-level section of the detector assembly and transferring and releasing the wound coil, and can be applied to the underwater environment so as to reduce the irradiation dose borne by operators and improve the replacement efficiency of the detector assembly.

The detector assembly gripping apparatus finishes gripping the detector assembly under the control of the control system. The detector component gripping apparatus mainly comprises a lifting ring, a steel wire rope winding component, an air pipe winding component, a gripping component, an outer barrel component, a control cabinet and the like. When hoisting, the hoisting ring 101 is connected with a factory crane and used for hoisting the gripping apparatus integrally; the steel wire rope winding component 103 can drive the grabbing component 104 to lift under the driving of a motor; the air pipe winding assembly 102 supplies air to the grabbing assembly 104 and acts along with the steel wire rope winding assembly 103; the grasping assembly 104 is used for grasping the detector assembly; the outer barrel assembly 105 supports the entire gripper; the control cabinet 106 is used to control the movement of the gripper. The large and small vehicle assembly mainly comprises a large vehicle, a small vehicle, a mounting self-positioning mechanism, a large and small vehicle locking mechanism and the like. The cart 202 performs longitudinal (Y direction, stack cavity and refueling water pool direction: 90-270 °) operating functions in the horizontal plane. The trolley 204: the running function in the transverse direction (X direction, vertical direction of the cart: 0-180 degrees) is executed in the horizontal plane. The installation is triggered formula spring mechanism by the contact and is constituteed from positioning mechanism 201, when installing big or small car to the reloading track, as long as the reloading track enters into the guide positioning rod constant head tank of the installation from positioning mechanism, just can ensure that big or small car is in the required scope relative positioning error of reloading track. When the dismantling work is completed or the whole device is hoisted, the trolley needs to be locked on the cart by the big and small trolley locking mechanism 203. The shearing and winding device finishes shearing, winding and temporary storage of the irradiated detector assembly and mainly comprises a left winding main shaft module 302, a right winding main shaft module 305, a shearing tool, a winding shaft, a clamping component, a reciprocating electric cylinder component, a sliding rail component, a temporary storage container, a shielding structure body and an outer frame.

The shear winding process is as follows:

(1) the shielding structure 304 is opened;

(2) when the detector assembly gripper lifts the detector assembly to a preset position, the left winding spindle module 302 and the right winding spindle module 305 synchronously move oppositely along the slide rail part to clamp the upper part of the detector assembly;

(3) the lower end of the detector assembly is clamped by a clamping component at the bottom of the shearing and winding device;

(3) the cutter of the right winding spindle module 305 is extended to cut the detector assembly;

(4) the winding shaft of the right winding spindle module 305 rotates, and simultaneously, the reciprocating electric cylinder component synchronously translates to wind the detector assembly into uniform and regular multilayer winding;

(5) the clamping component is loosened, and the reciprocating electric cylinder component translates to the right above the temporary storage container;

(6) the left winding spindle module 302 and the right winding spindle module 305 move in opposite directions, and the detector assembly falls into a temporary storage container.

The outer frame supports the entire shear winding assembly and is secured to the large and small car assemblies by its upper end flanges.

The high-level storage container and the storage rack are used for storing the coiled high-activity section detector assembly, and the high-level storage container and the storage rack can be transported to a spent fuel pool for long-term storage by means of a hoisting tool and a transportation channel of the fuel assembly.

The high-level storage container is stored on a high-level storage container storage rack at the bottom of a water pool of the in-pile component and mainly comprises a top seat, a barrel and a base.

The vision centering device collects image information of the target detector assembly on line and obtains the actual position of the target detector assembly after processing.

The vision centering device mainly comprises a camera, a lens, vision centering device software (including parameter calibration, image processing, a human-computer interaction interface and the like), a data acquisition card and the like.

The monitoring device is used for monitoring equipment positioning, detector assembly grabbing and shearing winding processes and mainly comprises an underwater lamp, an underwater radiation-resistant camera, a monitoring host, a monitoring display, a mounting support and the like.

In general, when used, the following sequential actions may be performed:

Radiation protection

The whole cutting and winding process is completed in the shielding structure 304, and the shielding structure can be opened and closed: when the shielding body is opened, the detector assembly gripper 1 can penetrate through the shielding structure body 304 to grip the detector assembly in the internal member; when the shielding structure is closed, the cavity is closed, and the gamma ray leakage can be effectively prevented.

The periphery of the temporary storage container and the periphery of the clamping part are provided with shielding bodies with enough thickness, and meanwhile, the whole shearing and winding process is carried out underwater, so that the situation that an operator is irradiated by overdose radiation is avoided.

Process monitoring

In the process of dismantling, the camera in the monitoring device can acquire images in the processes of positioning, grabbing, shearing and winding on line in real time and display the images on the monitoring display, and if abnormal conditions exist, the abnormal conditions can be found in time.

Example 2

On the basis of the above-mentioned embodiments, as shown in figures 1 and 2,

fig. 1 and 2 are schematic side views of a shielding structure for removing a nuclear reactor detector assembly.

The shielding structure shown in fig. 1 and 2 is the shielding structure 304 in fig. 3.

The subsequent front and back refer to the direction toward the paper of the example and the direction away from the paper as the drawing.

A shielding structure comprising:

a left shield 3048A, a right shield 3048B, a left shield shaft 3049A, a right shield shaft 3049B; the left shield 3048A is rotationally coupled about a left shield axis 3049A and the right shield 3048B is rotationally coupled about a right shield axis 3049B; the left shielding shaft 3049A and the right shielding shaft 3049B are at the same horizontal height, and the distance between the left shielding shaft 3049A and the right shielding shaft 3049B is required to ensure that when the left shielding body 3048A rotates rightwards around the left shielding shaft 3049A and the right shielding body 3048B rotates leftwards around the right shielding shaft 3049B, the opposite surfaces of the left shielding body 3048A and the right shielding body 3048B are abutted together;

the device further comprises a driving body A in driving connection with the left shielding body 3048A and a driving body B in driving connection with the right shielding body 3048B; the device further comprises an actuator which drives and connects the driving body A or/and the driving body B.

The driving bodies a and B operate synchronously.

The driving body A comprises a left layout: a guide rail 3045, a slider 3044, a link 3047, a link shaft 3049; wherein, the left side overall arrangement does: the slider 3044 slides in the vertical direction along the guide rail, one end of the connecting rod 3047 is fixedly connected to the slider 3044, and the other end of the connecting rod 3047 is connected to the left shield 3048A via a connecting rod shaft 3049;

the driving body B includes, in a right side layout: a guide rail 3045, a slider 3044, a link 3047, a link shaft 3049; wherein, the right side overall arrangement is: the slider 3044 slides in the vertical direction along the guide rail, one end of the connecting rod 3047 is fixedly connected to the slider 3044, and the other end of the connecting rod 3047 is connected to the right shield 3048B through a connecting rod shaft 3049;

the device further comprises an actuator, wherein the actuator comprises an electric telescopic cylinder 3041 and a lifting base plate 3042, the lifting base plate 3042 is transversely arranged, a guide rail 3045 in left layout is connected with the left side of the lifting base plate 3042, and a guide rail 3045 in right layout is connected with the right side of the lifting base plate 3042; the body of the electric telescopic cylinder 3041 is fixed, and an output telescopic end of the electric telescopic cylinder 3041 is vertically connected to the lifting base plate 3042.

One end of the connecting rod 3047 is fixedly connected with the slider 3044 by a pin 3043.

The left shield 3048A and the right shield 3048B are both in the shape of a quarter semicircle, the left shield 3048A and the right shield 3048B are bilaterally symmetrical and close to each other to form a semicircle, the surfaces of the left shield 3048A and the right shield 3048B that close to each other are the surfaces where the radius is, and the surface of the left shield 3048A facing the right shield 3048B and the surface of the right shield 3048B facing the left shield 3048A are mutually configured to be stepped surfaces that can be fitted together, see the region T in fig. 1.

The actuator, the driving body a, and the driving body B constitute a driving device, and the left shielding body 3048A, the right shielding body 3048B, the left shielding shaft 3049A, and the right shielding shaft 3049B constitute a shielding device, where the driving device is located above the shielding device, and the driving device and the shielding device are arranged in a staggered manner, when the shielding device is arranged in a staggered manner, the front side where the driving device is located behind the rear sides of the left shielding body 3048A and the right shielding body 3048B, the left shielding shaft 3049A penetrates through the front side and the rear side of the left shielding body 3048A, and the right shielding shaft 3049B penetrates through the front side and the rear side of the right shielding body 3048B.

The shielding structure further comprises a bridge plate 3048, wherein the bridge plate 3048 is positioned on the rear side surfaces of the left shielding body 3048A and the right shielding body 3048B; the left shield shaft 3049A penetrates a left surface area of the left shield 3048A and a left surface area of the bridge plate 3048, and the right shield shaft 3049B penetrates a right surface area of the right shield 3048B and a right surface area of the bridge plate 3048.

As shown in fig. 1 and 2:

a shielding system, comprising:

a primary shaft translation winding mechanism for nuclear reactor detector assembly removal;

a shearing tool 308 positioned below the left shield 3048A and the right shield 3048B;

a winding shaft 311 located below the shearing cutter 308;

the detector component gripper pulls the detector component from bottom to top;

the detector assembly sequentially penetrates through the winding shaft 311, the shearing cutter 308, the left shielding body 3048A and the right shielding body 3048B from bottom to top.

As shown in fig. 1 and 2:

a method of using a shielding structure comprising the steps of:

the actuator drives the driving body a or/and the driving body B to drive the left shielding body 3048A to rotate left around the left shielding shaft 3049A and the right shielding body 3048B to rotate right around the right shielding shaft 3049B, and a gap between the left shielding body 3048A and the right shielding body 3048B is opened;

the detector assembly is lifted upwards through the detector assembly gripper, and the detector assembly to be detected penetrates through the space between the left shielding body 3048A and the right shielding body 3048B;

starting the shearing cutter 308 to shear the detector assembly;

the detector assembly which is kept between the left shield 3048A and the right shield 3048B is lifted out by the detector assembly gripping apparatus;

the actuator drives the driving body a or/and the driving body B to drive the left shielding body 3048A to rotate rightwards around the left shielding shaft 3049A, the right shielding body 3048B to rotate leftwards around the right shielding shaft 3049B, and a gap between the left shielding body 3048A and the right shielding body 3048B is closed;

the start winding shaft 311 winds the detector assembly left under the left shield 3048A and the right shield 3048B.

The detector assembly comprises a detector assembly low amplification section 310A and a detector assembly high amplification section 310B, and in S2, a certain height refers to: when the junction of the detector assembly low-level section 310A and the detector assembly high-level section 310B is located at the shearing station of the shearing tool 308, the height is regarded as reaching a preset certain height.

As can be seen from the above embodiments:

the invention provides an open-close type modularized shielding structure of a detector assembly on a lifting, shearing and winding action path, which is used for matching the lifting, shearing and winding actions, opening the detector assembly under a machine if necessary, allowing the detector assembly to pass through, and closing the detector assembly under the necessary actual condition to shield the detector assembly.

The shielding object of the invention is a detector assembly which is a structure penetrating through a reactor and similar to a lead, the structure of the shielding object is a slender structure, the part of the shielding object positioned inside the reactor is high-radioactivity, so the shielding object is called a detector assembly high-radiation section, and the part of the shielding object positioned outside the reactor is low-radioactivity, so the shielding object is called a detector assembly low-radiation section; the low-level section and the high-level section of the detector assembly need different sealing treatment, so that the low-level section and the high-level section of the detector assembly need to be cut and separated in the dismantling process; when the low-level section and the high-level section of the detector assembly are cut off, the high-level section of the detector assembly is exposed, so that high-dose radiation can be generated, and great harm is brought to operators; in order to achieve the aim of safe disassembly, the invention is provided with the open-close type modularized shielding structure.

As shown in fig. 3-13

After the shearing cutter shears the detector assembly, the detector assembly low-level section is taken away, the detector assembly high-level section is left, the shielding device is in a closed state at the moment to complete shielding, and then the winding mechanism is started to perform winding operation.

The shear winding device 3:

comprises an outer frame body 307, an opening and closing slide rail 315 arranged in the outer frame body 307, a left winding main shaft module 302 and a right winding main shaft module 305 which are assembled in a sliding way along the opening and closing slide rail 315;

the device also comprises an integral translation slide rail 303 arranged in the outer frame 307 and assembled along the integral translation slide rail 303 in a sliding way;

the left winding spindle module 302 and the right winding spindle module 305 are simultaneously assembled with the integral translation frame 314 in a linkage manner; further comprising an integral translation drive assembly 301 connected to the integral translation frame 314 and controlling the integral translation drive assembly to translate along the integral translation slide 303;

and the device also comprises an opening and closing driving component which is connected with the left winding main shaft module 302 and the right winding main shaft module 305 and controls the left winding main shaft module 302 and the right winding main shaft module 305 to move along the opening and closing slide rail 315 in the opposite direction or the opposite direction.

The left winding main shaft module 302 comprises a left box body B3021, a left winding main shaft B3025 and a left linkage component B,

an extension part B is formed on the lower side surface of the left box body B3021, a left winding main shaft B3025 transversely penetrates through the extension part B,

the vertical linkage assembly B is used for driving the left winding spindle B3025 to rotate, the horizontal linkage assembly B is linked with the power device of the right winding spindle module 305, and the horizontal linkage assembly B is linked with the vertical linkage assembly B.

The transverse linkage assembly B comprises: a coupler B33029E linked with the power device of the right winding main shaft module 305, an expansion link 3029D in transmission connection with the coupler B33029E, and a coupler B23029C in transmission connection with the expansion link 3029D;

vertical linkage subassembly B is including transmission connection in proper order: a transmission shaft B23029A, a coupling B13029, a connecting shaft B3028, a transmission shaft B13027, a speed reducer B13026, a speed reducer gear B3023 and a winding main shaft gear B3024;

a winding main shaft gear B3024 is sleeved on the left winding main shaft B3025;

the reducer B23029B is further included, the transverse end of the reducer B23029B is in transmission connection with the coupling B23029C, and the vertical end of the reducer B23029B is in transmission connection with the transmission shaft B23029A.

The right winding spindle module 305 comprises a right box body C3053, a right winding spindle C3055 and a right linkage component B;

an extension part C is formed on the lower side surface of the right box body C3053, a right winding main shaft C3055 transversely penetrates through the extension part C,

the vertical linkage assembly C is used for driving a right winding main shaft C3055, and the transverse linkage assembly C is used for providing power for the left winding main shaft module 302; the material returning assembly C is used for pushing the high-level section of the detector assembly wound on the right winding main shaft C3055.

Vertical linkage subassembly C is including transmission connection in proper order: a downward speed reducer C3054, a transmission shaft C23054D, a coupling C3054A 1, a transmission shaft C13054A2, a speed reducer C13054A, a speed reducer gear C3054B and a winding main shaft gear C3054C; a winding main shaft gear C3054C is sleeved on the right winding main shaft C3055;

the transverse linkage assembly C comprises a transverse speed reducer C3054M;

the winding motor C3052 is also included, and the transverse speed reducer C3054M and the downward speed reducer C3054 are linked with the winding motor C3052; the transverse speed reducer C3054M is in transmission connection with the left winding main shaft module 302 and provides power for the left winding main shaft module 302;

material returned subassembly C is including transmission connection in proper order: a push rod motor 3059C, a speed reducer C23059B, a transmission shaft C33059A, a push plate connecting rod C3059, a push plate C3058 and a push rod C3056; wherein the push plate C3058 and the push rod C3056 are sleeved on the right winding main shaft C3055; the push rod motor 3059C and the speed reducer C23059B are assembled in the right box body C3053.

The drive assembly that opens and shuts includes: the 1-in 2-out speed reducer and the opening and closing motor 313 are arranged, 1 power input part of the 1-in 2-out speed reducer is in transmission connection with the opening and

closing motor

313, 2 power output parts of the 1-in 2-out speed reducer are respectively connected with 2 telescopic structures, wherein 1 telescopic structure is in transmission connection with the left winding main shaft module 302, and the other 1 telescopic structure is in transmission connection with the right winding main shaft module 305.

Integral translation drive assembly 301 includes in proper order the transmission connection: a translation drive motor 3011, a coupling a3012, a reduction gear a3015, a translation drive electric cylinder a3016, and a translation drive electric cylinder a3016 are mounted on the outer frame 307, and the telescopic end of the translation drive electric cylinder a3016 is connected to the entire translation frame 314.

the vertical linkage assembly B is used for driving the left winding main shaft B3025 to rotate, and the transverse linkage assembly B is linked with the vertical linkage assembly B;

the vertical linkage assembly C is used for driving a right winding main shaft C3055, and the material returning assembly C is used for pushing a high-level section of the detector assembly wound on the right winding main shaft C3055;

the transverse linkage component B is in transmission connection with the transverse linkage component C; the left winding main shaft B3025 and the right winding main shaft C3055 are coaxially arranged.

Based on the use method of the main shaft translation winding mechanism for dismantling the nuclear reactor detector assembly,

when the left winding spindle module 302 and the right winding spindle module 305 are folded in place, the following steps are performed:

s1, the winding motor C3052 in the right winding spindle module 305 is started, the left winding spindle B3025 of the left winding spindle module 302 and the right winding spindle C3055 of the right winding spindle module 305 start rotating synchronously, and after one rotation of the left winding spindle B3025 and the right winding spindle C3055, the process goes to step S2,

s2, starting the integral translation driving component 301 to drive the integral translation frame 314, wherein the integral translation frame 314 drives the left winding spindle module 302 and the right winding spindle module 305 to integrally translate for a distance equal to the diameter of the detector component;

s4, starting the integral translation driving assembly 301 to drive the integral translation frame 314, the integral translation frame 314 driving the left winding spindle module 302 and the right winding spindle module 305 to integrally translate so that the left winding spindle module 302 and the right winding spindle module 305 translate from the winding position to the release position, and then, turning to S5;

s5, the open/close driving component is started to make the winding motor C3052 in the right winding spindle module 305 move reversely, then turns S6,

s6, the material returning assembly C of the right winding spindle module 305 is activated to push the winding so that the winding is disengaged from the right winding spindle module 305 of the right winding spindle module 305 and falls into the temporary storage container 312.

And S3, finishing four-layer winding until the high-amplification section of the detector assembly is arranged.

The left winding spindle module 302 and the right winding spindle module 305 are synchronously driven to move oppositely or reversely by the opening and closing driving component, so that the clamping and the releasing of the detector components (a low-level section and a high-level section) are realized; the winding motor in the right winding main shaft module 305 is used for driving the left winding main shaft B3025 and the right winding main shaft C3055 to rotate at the same time, so that the winding of the high-level section of the detector assembly is realized; the integral translation driving assembly 301 simultaneously drives the left winding spindle module 302 and the right winding spindle module 305 to move in the same direction, so as to complete two functions: in the winding process, the left winding main shaft B3025 and the right winding main shaft C3055 simultaneously translate a specified distance (equal to the diameter of the detector assembly high-level section) every turn, so that the detector assembly high-level section becomes uniform and regular winding. ② transferring the winding from the winding position to the releasing position after the winding is completed.

All work can be done underwater.

The invention adopts an automatic mode and provides a manual operation mode in an emergency state, and the invention provides a handle C3051 and a handle A3013, wherein the handle C3051 is transmitted with a downward speed reducer C and is used as a backup power of a winding motor C, and the handle A3013 is transmitted with a speed reducer A3015 and is used as a backup power of a translation driving motor.

The main entity of the spindle translation winding mechanism for dismantling the nuclear reactor detector assembly comprises an integral translation driving assembly 301, a left winding spindle module, a right winding spindle module and the like.

The integral translation driving assembly 301 is used for completing integral translation of the whole winding mechanism from a winding position to a releasing winding position and moving a distance of a radial size of a detector assembly along the horizontal direction every turn of a winding main shaft in the winding process, and a translation driving motor in the integral translation driving assembly 301 drives a translation driving electric cylinder A through a speed reducer A to complete the action that the integral translation frame 314 moves left and right on a guide rail. Handle A3013 and reduction gear A (3015) transmission, as the translation drive electronic jar A manual operation supplementary means when failing, guarantee under the unexpected circumstances of failing of translation drive electronic jar A, drive translation system through the manual rotation hand wheel to compromise manual mode.

The left winding main shaft module and the right winding main shaft module are both arranged on the integral translation frame 314 and can move together with the integral translation frame 314, and in the winding process, each circle of rotation of the left winding main shaft B3025 and the right winding main shaft C3055 drives the integral mechanism to translate a distance of the diameter of the high-level section of the detector assembly by controlling coupling, so that the detector assemblies are arranged orderly and reciprocate twice and are wound for 4 layers; after winding is completed, the translation of the winding position to the winding release position is then completed.

And a winding motor C of the right winding spindle module is positioned above the right box body and provides power for winding of the left winding spindle module and the right winding spindle module. The right winding spindle module has the following main structure: the right box body is a bearing main body of the whole right winding main shaft module, and two sliding blocks C3053A are arranged on two sides of the right box body and used for moving on the guide rail; the winding motor outputs power to the right winding spindle C and the left winding spindle B through the two output speed reducers and the transmission chain of the left winding spindle module to realize rotation;

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A nuclear reactor detector assembly dismantling device is characterized by comprising the following components in a combined modular manner,

the device comprises a detector assembly gripper (1), a large car assembly, a small car assembly (2), a shearing and winding device (3), a vision centering device (4), a monitoring device (5), a high-level storage container and a storage rack (6); wherein the content of the first and second substances,

the large and small car assembly (2) is arranged in the nuclear reactor plant and is positioned right above the detector assembly; the big and small car assembly (2) comprises a big car (202) moving in the Y direction and a small car (204) moving in the X direction, and the small car (204) is assembled on the big car (202);

the detector assembly gripper (1) is arranged on the upper top surface of the trolley (204), the detector assembly gripper (1) comprises an outer cylinder assembly (105) with a length direction axis arranged along the Z direction, and a gripping assembly (104) moving up and down along the outer cylinder assembly (105); the Z direction is a direction vertical to the plane of the X direction and the Y direction;

the shear winding device (3) is hung on the lower top surface of the trolley (204), the shear winding device (3) comprises a left winding spindle module (302) and a right winding spindle module (305), and the left winding spindle module (302) and the right winding spindle module (305) can approach and separate from each other; the length direction axis of the outer cylinder component (105) is coaxial with the centering axis when the left winding spindle module (302) and the right winding spindle module (305) approach;

the vision centering device (4) and the monitoring device (5) are assembled at the bottom of the shearing and winding device (3);

the high-level storage container and the storage rack are arranged at the bottom of the pool of the in-pile component pool and below the running plane of the large and small car components (2);

the shear winding device (3) further comprises:

the winding spindle module comprises an outer frame body (307), an opening and closing slide rail (315) arranged in the outer frame body (307), and a left winding spindle module (302) and a right winding spindle module (305) which are assembled in a sliding mode along the opening and closing slide rail (315);

the device also comprises an integral translation sliding rail (303) arranged in the outer frame body (307), and an integral translation frame (314) assembled along the integral translation sliding rail (303) in a sliding way;

the left winding spindle module (302) and the right winding spindle module (305) are simultaneously assembled with the integral translation frame (314) in a linkage manner; the integral translation device also comprises an integral translation driving component (301) which is connected with the integral translation frame (314) and controls the integral translation driving component to translate along the integral translation sliding rail (303);

the winding mechanism further comprises an opening and closing driving assembly which is connected with the left winding spindle module (302) and the right winding spindle module (305) and controls the left winding spindle module (302) and the right winding spindle module (305) to move along the opening and closing slide rail (315) in opposite directions or in opposite directions.

2. A nuclear reactor detector assembly removal apparatus as claimed in claim 1,

the detector assembly gripping apparatus (1) further comprises a steel wire rope winding assembly (102) and an air pipe winding assembly (103), the steel wire rope winding assembly (102) is connected to the gripping assembly (104) through a steel wire winding drive, and the air pipe winding assembly (103) is provided with an air pipe which moves along with the gripping assembly (104) and is connected with an action cylinder of the gripping assembly (104) and a winding assembly which drives the air pipe to move up and down and is synchronous with the steel wire; the device also comprises a control cabinet (106), wherein the control cabinet (106) is used for controlling the air supply of the air pipe so as to control the action of the grabbing component (104).

3. A nuclear reactor detector assembly removal apparatus as claimed in claim 1,

the shearing and winding device (3) further comprises a shielding structure body (304) positioned between the left winding spindle module (302) and the right winding spindle module (305), wherein the shielding structure body (304) comprises a left shielding body (3048A) and a right shielding body (3048B), and the left shielding body (3048A) and the right shielding body (3048B) can be close to and separated from each other; the longitudinal axis of the outer cylinder assembly (105) is coaxial with the centering axis when the left shield (3048A) and the right shield (3048B) approach.

4. A nuclear reactor detector assembly removal apparatus as claimed in claim 3,

the shielding structure (304) further comprises a left shielding shaft (3049A) and a right shielding shaft (3049B); the left side shield (3048A) is rotationally connected around a left shield shaft (3049A), and the right side shield (3048B) is rotationally connected around a right shield shaft (3049B); the left shielding shaft (3049A) and the right shielding shaft (3049B) are at the same horizontal height, and the distance between the left shielding shaft (3049A) and the right shielding shaft (3049B) needs to ensure that when the left shielding body (3048A) rotates rightwards around the left shielding shaft (3049A) and the right shielding body (3048B) rotates leftwards around the right shielding shaft (3049B), the opposite surfaces of the left shielding body (3048A) and the right shielding body (3048B) are connected together in a leaning manner;

the device also comprises a driving body A in driving connection with the left shielding body (3048A) and a driving body B in driving connection with the right shielding body (3048B); the device further comprises an actuator which drives and connects the driving body A or/and the driving body B.

5. A nuclear reactor detector assembly removal apparatus as claimed in claim 4,

the driving body A comprises a left layout: a guide rail (3045), a slider (3044), a connecting rod (3047), and a connecting rod shaft (3049); wherein, the left side overall arrangement does: the sliding block (3044) slides in the vertical direction along the guide rail, one end of the connecting rod (3047) is fixedly connected with the sliding block (3044), and the other end of the connecting rod (3047) is connected with the left shielding body (3048A) through a connecting rod shaft (3049);

the driving body B includes, in a right side layout: a guide rail (3045), a slider (3044), a connecting rod (3047), and a connecting rod shaft (3049); wherein, the right side overall arrangement is: the sliding block (3044) slides in the vertical direction along the guide rail, one end of the connecting rod (3047) is fixedly connected with the sliding block (3044), and the other end of the connecting rod (3047) is connected with the right side shielding body (3048B) through a connecting rod shaft (3049);

the device further comprises an actuator, wherein the actuator comprises an electric telescopic cylinder (3041) and a lifting base plate (3042), the lifting base plate (3042) is transversely arranged, a guide rail (3045) in left layout is connected with the left side of the lifting base plate (3042), and a guide rail (3045) in right layout is connected with the right side of the lifting base plate (3042); the body of the electric telescopic cylinder (3041) is fixed, and the output telescopic end of the electric telescopic cylinder (3041) is vertically connected with the lifting base plate (3042).

6. A nuclear reactor detector assembly removal apparatus as claimed in claim 5,

one end of the connecting rod (3047) is fixedly connected with the sliding block (3044) by a pin shaft (3043).

7. A nuclear reactor detector assembly removal apparatus as claimed in any one of claims 3 to 6,

the shapes of the left side shield (3048A) and the right side shield (3048B) are both approximately quarter-semicircle, the left side shield (3048A) and the right side shield (3048B) are bilaterally symmetrical and mutually close to form a semicircle, the surfaces of the left side shield (3048A) and the right side shield (3048B) which are mutually close to each other are the surfaces with the radius, and the surface of the left side shield (3048A) facing the right side shield (3048B) and the surface of the right side shield (3048B) facing the left side shield (3048A) are mutually constructed into step surfaces which can be mutually matched.

8. A nuclear reactor detector assembly removal apparatus as claimed in claim 3,

the actuator, the driving body A and the driving body B form a driving device, the left shielding body (3048A), the right shielding body (3048B), the left shielding shaft (3049A) and the right shielding shaft (3049B) form a shielding device, the driving device is positioned above the shielding device, the driving device and the shielding device are arranged in a staggered mode, during staggered arrangement, the front side face where the driving device is positioned behind the rear side faces of the left shielding body (3048A) and the right shielding body (3048B), the left shielding shaft (3049A) penetrates through the front side face and the rear side face of the left shielding body (3048A), and the right shielding shaft (3049B) penetrates through the front side face and the rear side face of the right shielding body (3048B);

the shielding structure further comprises a bridge plate (3048), wherein the bridge plate (3048) is positioned on the rear side surfaces of the left shielding body (3048A) and the right shielding body (3048B); the left shielding shaft (3049A) penetrates through the left surface area of the left shielding body (3048A) and the left surface area of the bridge plate (3048), and the right shielding shaft (3049B) penetrates through the right surface area of the right shielding body (3048B) and the right surface area of the bridge plate (3048).

9. A nuclear reactor detector assembly removal apparatus as claimed in claim 1,

the left winding main shaft module (302) comprises a left box body B (3021), a left winding main shaft B (3025) and a left linkage component B,

an extension part B is formed on the lower side surface of the left box body B (3021), a left winding main shaft B (3025) transversely penetrates through the extension part B,

the vertical linkage assembly B is used for driving the left winding spindle B (3025) to rotate, the horizontal linkage assembly B is linked with a power device of the right winding spindle module (305), and the horizontal linkage assembly B is linked with the vertical linkage assembly B.

10. A nuclear reactor detector assembly removal apparatus as defined in claim 9,

the transverse linkage assembly B comprises: a coupler B3(3029E) linked with the power device of the right winding main shaft module (305), a telescopic rod (3029D) in transmission connection with the coupler B3(3029E), and a coupler B2(3029C) in transmission connection with the telescopic rod (3029D);

vertical linkage subassembly B is including transmission connection in proper order: a transmission shaft B2(3029A), a coupling B1(3029), a connecting shaft B (3028), a transmission shaft B1(3027), a reducer B1(3026), a reducer gear B (3023), and a winding main shaft gear B (3024);

a winding main shaft gear B (3024) is sleeved on the left winding main shaft B (3025);

the reducer B2(3029B) is further included, the transverse end of the reducer B2(3029B) is in transmission connection with the coupler B2(3029C), and the vertical end of the reducer B2(3029B) is in transmission connection with the transmission shaft B2 (3029A).

11. A nuclear reactor detector assembly removal apparatus as claimed in claim 1,

the right winding spindle module (305) comprises a right box body C (3053), a right winding spindle C (3055) and a right linkage component B;

an extension part C is formed on the lower side surface of the right box body C (3053), a right winding main shaft C (3055) transversely penetrates through the extension part C,

the vertical linkage assembly C is used for driving a right winding spindle C (3055), and the transverse linkage assembly C is used for providing power for the left winding spindle module (302); the material returning assembly C is used for pushing the detector assembly high-level section wound on the right winding main shaft C (3055).

12. A nuclear reactor detector assembly removal apparatus as defined in claim 11,

vertical linkage subassembly C is including transmission connection in proper order: a downward speed reducer C (3054), a transmission shaft C2(3054D), a coupling C (3054A1), a transmission shaft C1(3054A2), a speed reducer C1(3054A), a speed reducer gear C (3054B) and a winding main shaft gear C (3054C); a winding main shaft gear C (3054C) is sleeved on the right winding main shaft C (3055);

the lateral linkage assembly C includes a lateral retarder C (3054M);

the winding motor C (3052) is linked with the transverse speed reducer C (3054M) and the downward speed reducer C (3054); the transverse speed reducer C (3054M) is in transmission connection with the left winding main shaft module (302) and provides power for the left winding main shaft module (302);

material returned subassembly C is including transmission connection in proper order: a push rod motor (3059C), a speed reducer C2(3059B), a transmission shaft C3(3059A), a push plate connecting rod C (3059), a push plate C (3058) and a push rod C (3056); wherein the push plate C (3058) and the push rod C (3056) are sleeved on the right winding main shaft C (3055); the push rod motor (3059C) and the speed reducer C2(3059B) are assembled in the right box body C (3053).

13. A nuclear reactor detector assembly removal apparatus as claimed in any one of claims 1 or 9 to 12,

the drive assembly that opens and shuts includes: 1 goes into 2 and goes out reduction gear, motor that opens and shuts (313), 1 power input part that 1 goes into 2 and goes out the reduction gear is connected with motor that opens and shuts (313) transmission, 2 power output parts that 1 goes into 2 and goes out the reduction gear connect respectively in 2 extending structure, wherein 1 extending structure transmission is connected in left side and is rolled up main shaft module (302), 1 extending structure transmission is connected in right side and is rolled up main shaft module (305) in addition.

14. A nuclear reactor detector assembly removal apparatus as claimed in any one of claims 1 or 9 to 12,

the integral translation driving component (301) comprises a transmission component which is connected in sequence: translation actuating motor (3011), shaft coupling A (3012), reduction gear A (3015), translation drive electronic cylinder A (3016) assemble in outer frame (307), and the flexible end of translation drive electronic cylinder A (3016) connects in whole translation frame (314).

15. A nuclear reactor detector assembly removal apparatus as claimed in any one of claims 1 or 9 to 12,

the vertical linkage assembly B is used for driving a left winding main shaft B (3025) to rotate, and the transverse linkage assembly B is linked with the vertical linkage assembly B;

the vertical linkage assembly C is used for driving a right winding main shaft C (3055), and the material returning assembly C is used for pushing the high-level section of the detector assembly wound on the right winding main shaft C (3055);

the transverse linkage component B is in transmission connection with the transverse linkage component C; the left winding main shaft B (3025) and the right winding main shaft C (3055) are coaxially arranged.